/// <summary>
/// Compute joint poses in model space given the skeleton hierarchy and
/// an animation pose (local space poses)
/// </summary>
/// <param name="animPose">animation pose with local space transforms</param>
/// <param name="poseGlobal">output transformations in model space</param>
public void GetPoseInGlobalSpace(AnimationPose animPose, ref Matrix4x4[] globalPose)
{
// KEEP THIS check validity of the arguments
int jointCount = m_aJoint.Length;
if (animPose.m_aLocalPose.Length != jointCount)
{
Debug.LogError("[Skeleton] the AnimationPose and Skeleton don't match");
}
if (globalPose.Length != jointCount)
{
globalPose = new Matrix4x4[jointCount];
}
// TODO exercise 5.1
// You should
// 1. iterate through all the joints,
// 2. use the hierarchy of joints to retrieve the local transformation of each joint in the animPose,
// 3. concatenate the local transformations until you reach the root joint of the skeleton (m_iParent == 255)
// 4. store the resultint matrix on poseGlobal, at the same index as the joint
// REPLACE with the correct code (slide 31)
for (int i = 0; i < jointCount; i++)
{
globalPose[i] = animPose.m_aLocalPose[i].Matrix();
}
}
public void Init()
{
// Load character mesh (saved as a serialized data structure)
string meshLoadPath = Application.dataPath + "/" + meshFile;
string meshString = System.IO.File.ReadAllText(meshLoadPath);
modelMesh = JsonUtility.FromJson <TriangleMesh>(meshString);
// Setup this game object to show the mesh, use control weights as colors
weightMeshRenderer = gameObject.GetComponent <MeshRenderer>();
if (weightMeshRenderer == null)
{
weightMeshRenderer = gameObject.AddComponent <MeshRenderer>();
}
weightMeshFilter = gameObject.GetComponent <MeshFilter>();
if (weightMeshFilter == null)
{
weightMeshFilter = gameObject.AddComponent <MeshFilter>();
}
// Set the character mesh
weightMeshFilter.sharedMesh = modelMesh.GetUnityMesh();
// Assumes that there is a material called WeightsMaterial in a Resources folder
// a custom material is used so that we can render a mesh using the colors we set
Material weightsMat = Resources.Load("WeightsMaterial", typeof(Material)) as Material;
weightMeshRenderer.sharedMaterial = weightsMat;
// Load skeleton from file (saved as a serialized data structure)
string skelLoadPath = Application.dataPath + "/" + skeletonFile;
string skelString = System.IO.File.ReadAllText(skelLoadPath);
skeleton = JsonUtility.FromJson <Skeleton>(skelString);
// Load pose from file (saved as a serialized data structure)
string poseLoadPath = Application.dataPath + "/" + poseFile;
string poseString = System.IO.File.ReadAllText(poseLoadPath);
currentPose = JsonUtility.FromJson <AnimationPose>(poseString);
// Compute the pose of all joints in model space
skeleton.GetPoseInGlobalSpace(currentPose, ref modelSpacePose);
// Compute the pose of the vertices of the mesh
UpdateMeshVertices(modelMesh, modelSpacePose, skeleton, weightMeshFilter.sharedMesh);
initialized = true;
}
/// <summary>
/// Compute joint poses in model space given the skeleton hierarchy and
/// an animation pose (local space poses)
/// </summary>
/// <param name="animPose">animation pose with local space transforms</param>
/// <param name="poseGlobal">output transformations in model space</param>
public void GetPoseInGlobalSpace(AnimationPose animPose, ref Matrix4x4[] globalPose)
{
// KEEP THIS check validity of the arguments
int jointCount = m_aJoint.Length;
if (animPose.m_aLocalPose.Length != jointCount)
{
Debug.LogError("[Skeleton] the AnimationPose and Skeleton don't match");
}
if (globalPose.Length != jointCount)
{
globalPose = new Matrix4x4[jointCount];
}
// TODO exercise 5.1
// You should
// 1. iterate through all the joints,
// 2. use the hierarchy of joints to retrieve the local transformation of each joint in the animPose,
// 3. concatenate the local transformations until you reach the root joint of the skeleton (m_iParent == 255)
// 4. store the resultint matrix on poseGlobal, at the same index as the joint
// (slide 31)
for (int i = 0; i < jointCount; i++)
{
Matrix4x4 P = animPose.m_aLocalPose[i].Matrix();
byte parentId = m_aJoint[i].m_iParent;
// go up the hierarchy until we reach the root
while (true)
{
// check if it has reached the root of our hierarchy, the joint with an invalid parentID( == 255)
if (parentId == 255)
{
break;
}
P = animPose.m_aLocalPose[parentId].Matrix() * P;
parentId = m_aJoint[parentId].m_iParent;
}
globalPose[i] = P;
}
}
void Init()
{
if (animationPoses != null)
{
return;
}
// create the arm skeleton
SkeletonJoint shoulder = new SkeletonJoint()
{
m_invBindPose = Matrix4x4.identity, m_name = "shoulder", m_iParent = 255
};
SkeletonJoint elbow = new SkeletonJoint()
{
m_invBindPose = Matrix4x4.identity, m_name = "elbow", m_iParent = 0
};
SkeletonJoint wrist = new SkeletonJoint()
{
m_invBindPose = Matrix4x4.identity, m_name = "wrist", m_iParent = 1
};
SkeletonJoint[] joints = new SkeletonJoint[3] {
shoulder, elbow, wrist
};
arm = new Skeleton()
{
m_aJoint = joints
};
// create animation frame 1 (index 0)
JointPose shoulder1 = new JointPose {
m_rot = Quaternion.AngleAxis(0.0f, Vector3.forward),
m_pos = new Vector3(0.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose elbow1 = new JointPose {
m_rot = Quaternion.AngleAxis(0.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose wrist1 = new JointPose {
m_rot = Quaternion.AngleAxis(0.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose[] poses1 = new JointPose[3] {
shoulder1, elbow1, wrist1
};
AnimationPose frame1 = new AnimationPose {
m_aLocalPose = poses1
};
// create animation frame 2 (index 1)
JointPose shoulder2 = new JointPose
{
m_rot = Quaternion.AngleAxis(60.0f, Vector3.forward),
m_pos = new Vector3(0.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose elbow2 = new JointPose
{
m_rot = Quaternion.AngleAxis(-75.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose wrist2 = new JointPose
{
m_rot = Quaternion.AngleAxis(40.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose[] poses2 = new JointPose[3] {
shoulder2, elbow2, wrist2
};
AnimationPose frame2 = new AnimationPose {
m_aLocalPose = poses2
};
// create animation frame 3 (index 2)
JointPose shoulder3 = new JointPose
{
m_rot = Quaternion.AngleAxis(30.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose elbow3 = new JointPose
{
m_rot = Quaternion.AngleAxis(-25.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose wrist3 = new JointPose
{
m_rot = Quaternion.AngleAxis(10.0f, Vector3.forward),
m_pos = new Vector3(1.0f, 0.0f, 0.0f),
m_scale = 1.0f
};
JointPose[] poses3 = new JointPose[3] {
shoulder3, elbow3, wrist3
};
AnimationPose frame3 = new AnimationPose {
m_aLocalPose = poses3
};
// array of animation poses, frame 1 at index 0 and frame 2 at index 1
animationPoses = new AnimationPose[3] {
frame1, frame2, frame3
};
// initialize current pose to pose 1
JointPose[] poses = new JointPose[3] {
shoulder1, wrist1, wrist1
};
currentPose = new AnimationPose {
m_aLocalPose = poses
};
}
